Robot

Dependencies:   mbed QEI

Embed: (wiki syntax)

« Back to documentation index

Show/hide line numbers Control.h Source File

Control.h

00001 #ifndef CONTROL_H
00002 #define CONTROL_H    
00003     #include "mbed.h"
00004     using namespace std;
00005     class Control{
00006         private:
00007             float KP;
00008             float KV;
00009             float KI;
00010             float KA;
00011             float KM;
00012             float Scale;
00013             float Offset;
00014             float MaxTorque;
00015             float SamplingTime;
00016             float PrevErr;
00017         public:
00018             Control(float _KP, float _KV, float _KI,float _KA,float _KM ,float _SamplingTime, float _Scale, float _Offset,float _MaxTorque);
00019             float GetKP();
00020             float GetKV();
00021             float GetKI();
00022             float SaturationControl(float value);
00023             float ComputeP(float qref, float qi);
00024             float ComputePD_FirstVersion(float qref, float qi, float qdotref, float qdoti);
00025             float ComputePD_SecondVersion(float qref, float qi, float qdoti);
00026             float ComputePID(float qref, float qi, float qdotref, float qdoti);
00027             float ComputePDG(float qref, float qi, float qdotref, float qdoti, float Tau);
00028     }; 
00029 #endif //CONTROL_H